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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-12 23:41:52 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-12 23:41:52 +0100 |
commit | 6b55baad7853670165a93135416b6024397d9955 (patch) | |
tree | 6e420ce4df486f3e46574065551d293cd52597cb /src/modules/fw_att_pos_estimator | |
parent | bc64391c538d85e6a1640dac0a76fe0f71a8efc4 (diff) | |
download | px4-firmware-6b55baad7853670165a93135416b6024397d9955.tar.gz px4-firmware-6b55baad7853670165a93135416b6024397d9955.tar.bz2 px4-firmware-6b55baad7853670165a93135416b6024397d9955.zip |
Tool command to print full filter states
Diffstat (limited to 'src/modules/fw_att_pos_estimator')
-rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp index 466f6d51f..142abc50d 100644 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -875,12 +875,16 @@ int fw_att_pos_estimator_main(int argc, char *argv[]) math::Quaternion q(states[0], states[1], states[2], states[3]); math::EulerAngles euler(q); - printf("attitude: roll: %8.4f, pitch %8.4f, yaw: %8.4f degrees", + printf("attitude: roll: %8.4f, pitch %8.4f, yaw: %8.4f degrees\n", (double)math::degrees(euler.getPhi()), (double)math::degrees(euler.getTheta()), (double)math::degrees(euler.getPsi())); - printf("states [1-3]: %8.4f, %8.4f, %8.4f\n", (double)states[0], (double)states[1], (double)states[2]); - printf("states [4-6]: %8.4f, %8.4f, %8.4f\n", (double)states[3], (double)states[4], (double)states[5]); - printf("states [7-9]: %8.4f, %8.4f, %8.4f\n", (double)states[6], (double)states[7], (double)states[8]); + printf("states [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)states[0], (double)states[1], (double)states[2], (double)states[3]); + printf("states [5-7]: %8.4f, %8.4f, %8.4f\n", (double)states[4], (double)states[5], (double)states[6]); + printf("states [8-10]: %8.4f, %8.4f, %8.4f\n", (double)states[7], (double)states[8], (double)states[9]); + printf("states [11-13]: %8.4f, %8.4f, %8.4f\n", (double)states[10], (double)states[11], (double)states[12]); + printf("states [14-16]: %8.4f, %8.4f, %8.4f\n", (double)states[13], (double)states[14], (double)states[15]); + printf("states [17-19]: %8.4f, %8.4f, %8.4f\n", (double)states[16], (double)states[17], (double)states[18]); + printf("states [20-21]: %8.4f, %8.4f\n", (double)states[19], (double)states[20]); exit(0); } else { |